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format code properly

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match the comment from pullrequest about spacing
remains : some hand alignment for comment and wrong /** */ usage.
Conflicts:

	src/board.h
	src/buzzer.c
	src/config.c
	src/drivers/serial_common.h
	src/drivers/system_common.c
	src/drv_gpio.h
	src/drv_pwm.c
	src/drv_timer.c
	src/drv_uart.c
	src/flight_imu.c
	src/mw.c
	src/serial_cli.c
This commit is contained in:
treymarc 2014-05-08 00:36:19 +00:00 • committed by Dominic Clifton
parent ab2273f93e
commit cabc57774c
27 changed files with 141 additions and 135 deletions
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28
src/gps_common.c
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@ -118,10 +118,10 @@ typedef struct gpsData_t {
int errors; // gps error counter - crc error/lost of data/sync etc. reset on each reinit.
uint32_t lastMessage; // last time valid GPS data was received (millis)
uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta.
uint32_t state_position; // incremental variable for loops
uint32_t state_ts; // timestamp for last state_position increment
} gpsData_t;
static gpsData_t gpsData;
@ -495,7 +495,7 @@ static void gpsNewData(uint16_t c)
#endif
// dTnav calculation
// Time for calculating x,y speed and navigation pids
dTnav = (float) (millis() - nav_loopTimer) / 1000.0f;
dTnav = (float)(millis() - nav_loopTimer) / 1000.0f;
nav_loopTimer = millis();
// prevent runup from bad GPS
dTnav = min(dTnav, 1.0f);
@ -684,7 +684,7 @@ static bool check_missed_wp(void)
static void GPS_distance_cm_bearing(int32_t * lat1, int32_t * lon1, int32_t * lat2, int32_t * lon2, uint32_t * dist, int32_t * bearing)
{
float dLat = *lat2 - *lat1; // difference of latitude in 1/10 000 000 degrees
float dLon = (float) (*lon2 - *lon1) * GPS_scaleLonDown;
float dLon = (float)(*lon2 - *lon1) * GPS_scaleLonDown;
*dist = sqrtf(sq(dLat) + sq(dLon)) * 1.113195f;
*bearing = 9000.0f + atan2f(-dLat, dLon) * 5729.57795f; // Convert the output radians to 100xdeg
@ -716,8 +716,8 @@ static void GPS_calc_velocity(void)
if (init) {
float tmp = 1.0f / dTnav;
actual_speed[GPS_X] = (float) (GPS_coord[LON] - last[LON]) * GPS_scaleLonDown * tmp;
actual_speed[GPS_Y] = (float) (GPS_coord[LAT] - last[LAT]) * tmp;
actual_speed[GPS_X] = (float)(GPS_coord[LON] - last[LON]) * GPS_scaleLonDown * tmp;
actual_speed[GPS_Y] = (float)(GPS_coord[LAT] - last[LAT]) * tmp;
actual_speed[GPS_X] = (actual_speed[GPS_X] + speed_old[GPS_X]) / 2;
actual_speed[GPS_Y] = (actual_speed[GPS_Y] + speed_old[GPS_Y]) / 2;
@ -742,7 +742,7 @@ static void GPS_calc_velocity(void)
//
static void GPS_calc_location_error(int32_t *target_lat, int32_t *target_lng, int32_t *gps_lat, int32_t *gps_lng)
{
error[LON] = (float) (*target_lng - *gps_lng) * GPS_scaleLonDown; // X Error
error[LON] = (float)(*target_lng - *gps_lng) * GPS_scaleLonDown; // X Error
error[LAT] = *target_lat - *gps_lat; // Y Error
}
@ -770,7 +770,7 @@ static void GPS_calc_poshold(void)
d = 0;
#endif
nav[axis] +=d;
nav[axis] += d;
nav[axis] = constrain(nav[axis], -NAV_BANK_MAX, NAV_BANK_MAX);
navPID[axis].integrator = poshold_ratePID[axis].integrator;
}
@ -846,7 +846,7 @@ static int16_t GPS_calc_desired_speed(int16_t max_speed, bool _slow)
// limit the ramp up of the speed
// waypoint_speed_gov is reset to 0 at each new WP command
if (max_speed > waypoint_speed_gov) {
waypoint_speed_gov += (int) (100.0f * dTnav); // increase at .5/ms
waypoint_speed_gov += (int)(100.0f * dTnav); // increase at .5/ms
max_speed = waypoint_speed_gov;
}
return max_speed;
@ -970,7 +970,7 @@ static uint32_t grab_fields(char *src, uint8_t mult)
tmp *= 10;
if (src[i] >= '0' && src[i] <= '9')
tmp += src[i] - '0';
if (i >= 15)
if (i >= 15)
return 0; // out of bounds
}
return tmp;
@ -1128,8 +1128,7 @@ typedef struct {
uint32_t heading_accuracy;
} ubx_nav_velned;
typedef struct
{
typedef struct {
uint8_t chn; // Channel number, 255 for SVx not assigned to channel
uint8_t svid; // Satellite ID
uint8_t flags; // Bitmask
@ -1140,8 +1139,7 @@ typedef struct
int32_t prRes; // Pseudo range residual in centimetres
} ubx_nav_svinfo_channel;
typedef struct
{
typedef struct {
uint32_t time; // GPS Millisecond time of week
uint8_t numCh; // Number of channels
uint8_t globalFlags; // Bitmask, Chip hardware generation 0:Antaris, 1:u-blox 5, 2:u-blox 6
@ -1252,7 +1250,7 @@ static bool gpsNewFrameUBLOX(uint8_t data)
case 5:
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length += (uint16_t) (data << 8);
_payload_length += (uint16_t)(data << 8);
if (_payload_length > 512) {
_payload_length = 0;
_step = 0;